capture.yaml

chains:
  - name: arm
    topic: /arm_controller/follow_joint_trajectory
    joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - upperarm_roll_joint
     - elbow_flex_joint
     - forearm_roll_joint
     - wrist_flex_joint
     - wrist_roll_joint
    planning_group: arm
  - name: head
    topic: /head_controller/follow_joint_trajectory
    joints:
     - head_pan_joint
     - head_tilt_joint
duration: 2.0
features:
  led_finder:
    type: robot_calibration/LedFinder
    action: /gripper_controller/led_action
    topic: /head_camera/depth_registered/points
    camera_sensor_name: camera
    chain_sensor_name: arm
    threshold: 500.0
    max_iterations: 25
    debug_image: false
    gripper_led_frame: wrist_roll_joint
    poses:
      - code: 1
        topic: led1
        x: 0.1377
        y: 0.0532
        z: 0.0006
      - code: 2
        topic: led2
        x: 0.0847
        y: 0.0532
        z: 0.0006
      - code: 4
        topic: led3
        x: 0.0847
        y: 0.0052
        z: 0.0529
      - code: 8
        topic: led4
        x: 0.1377
        y: 0.0052
        z: 0.0529